import mujoco
 
model = mujoco.MjModel.from_xml_path("/home/saw/RL/isaacgym/legged_gym/resources/robots/go2/urdf/go2.urdf")
 
mujoco.mj_saveLastXML("/home/saw/RL/isaacgym/legged_gym/resources/robots/go2/xml/mygo2.xml",model)